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Stopping Intake crashing #139

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Stopping Intake crashing #139

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4586608
Reduced distance to fuel to fix crashing problem
neelabhb-sudo Mar 21, 2026
1610b6f
style: Apply Spotless fixes
neelabhb-sudo Mar 21, 2026
28d0105
Fixed DriveToClump:
neelabhb-sudo Mar 28, 2026
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27 changes: 20 additions & 7 deletions src/main/java/frc/robot/auto/DriveToClump.java
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Original file line number Diff line number Diff line change
Expand Up @@ -56,8 +56,13 @@ public Command driveToClump() {
return Commands.none();
}

Translation2d error =
fuelPosition.minus(robot.getSwerveDrive().getPosition2d().getTranslation());
// Translation2d error =
// fuelPosition.minus(robot.getSwerveDrive().getPosition2d().getTranslation());

Translation2d currentPosition =
robot.getSwerveDrive().getPosition2d().getTranslation();
Translation2d centerError = fuelPosition.minus(currentPosition);
double distanceToCenter = centerError.getNorm();

double maxVelocity =
robot
Expand All @@ -74,20 +79,28 @@ public Command driveToClump() {
.MaxLinearAcceleration
.in(MetersPerSecondPerSecond);

double distance = error.getNorm();
double finalSpeed = Math.min(maxVelocity, Math.sqrt(2 * maxAcceleration * distance));
double robotRadius = 0.73; // Needs to be tuned
if (distanceToCenter <= robotRadius) {
return Commands.none();
}
Translation2d targetPosition =
fuelPosition.minus(centerError.div(distanceToCenter).times(robotRadius));
Translation2d error = targetPosition.minus(currentPosition);
double distanceToTarget = error.getNorm();
double finalSpeed =
Math.min(maxVelocity, Math.sqrt(2 * maxAcceleration * distanceToTarget));

ChassisSpeeds finalVelocity =
new ChassisSpeeds(
error.getX() / distance * finalSpeed,
error.getY() / distance * finalSpeed,
error.getX() / distanceToTarget * finalSpeed,
error.getY() / distanceToTarget * finalSpeed,
0);

return Commands.either(
Commands.deadline(
robot
.getSwerveDrive()
.driveTo(new Pose2d(fuelPosition, error.getAngle()), finalVelocity),
.driveTo(new Pose2d(targetPosition, error.getAngle()), finalVelocity),
robot.getIntakeRollers().intake()),
Commands.none(),
robot.getIntakeExtension()::isExtended);
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